Dynamic Awareness of an Industrial Robotic Arm Using Time-of-Flight Laser-Ranging Sensors

In this paper, a range sensing setup for performing detection and monitoring in an industrial robot workspace is presented. The setup uses a ring of Time-of-Flight laser range sensors mounted on a robot. A 3D simulation setup with the properties of the sensor mounted on a UR10 robot and a simple pick and place task with a human avatar is used to analyze its behavior and viability with industrial arm robots. Collision detection strategies based on human-robot separation distance and relative speeds are also implemented. These strategies are evaluated based on the human safety, robot performance and productivity of the task. The parameters and results of the experiments are tabulated. The results show the benefits of achieving dynamic awareness of the robot in comparison with the conventional methods used in industry. The development of the prototype sensor ring is also shown and the future work discussed.